Online localization method

[yyzhuang]

@yh570's code is written in Matlab, and only works offline.

OpenCV is a tool for Computer Vision, works online, and has an Android version. It would be great to migrate @yh570's desktop code to Android so a user can use the phone's camera for localization.

[yyzhuang]

As a starting point, playing with OpenCV for android and see how it works with the native camera.